Milling robot for processing the internal walls of inaccessible pipelines

Milling robot for processing the internal walls of inaccessible pipelines with a milling robot arm that supports a milling head, that is deflectable via remote control in the direction of the inner wall of the pipe and that has an end flange supported by a housing body and a face flange supporting the milling head connected with one another via a deflectable core, and a flexible supply line routed longitudinally along the milling robot arm supplies the milling head with drive power,

• characterized in that the core is a torsionally rigid, fixed-length pintle chain (20) which is only deflectable in one plane, that a cylindrical outer casing (11) which connects the end flange (4) to the face flange (7) sheathes a pressurized chamber (12) in a pressure-tight way, that the pintle chain (20) is longitudinally positioned at an offset to the center line M of the outer casing (11), and that the outer casing (11) is made of a rubber-elastic material with a high restoring force and is reinforced in such a way that excess pressure in the pressurized chamber (12) essentially influences its lengthwise extension, as a result of which the milling robot arm (1) deflects towards the pintle chain (20) when there is excess pressure, and an increasing restoring force is built up against the deflection with an increasing deflection in order to fix the milling head (3) in place in a certain position with regard to the pipeline wall in dependence upon the pressure in the pressurized chamber (12).